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The purpose of the paper is to develop a hybrid method to prioritize risk factors (RFs) of sustainable supply chain (SSC) considering sustainable customer requirements (CRs) and uncertain evaluation.

In the proposed method, fuzzy Kano model (FKM) is applied to prioritize sustainable CRs considering customer satisfaction (CS) and objective weight of each CR, the interval-valued intuitionistic fuzzy (IVIF) set theory is integrated with quality function deployment (QFD) to translate the sustainable CRs into RFs of SSC under uncertain environment and the IVIF cross-entropy is used to conduct objective analysis to prioritize RFs. Finally, a case in air-conditioner-manufacturing company is presented to demonstrate the proposed method.

A case study of SSC risk management, the comparative analysis and associated discussions are conducted to illustrate the feasibility and effectiveness of the proposed method. The results obtained from the case study shows that RF5 (market share reduction) is the most important RF in the SSC. Compared with the existing methods, the proposed method can integrate sustainable CRs into SSC's RFs, handle uncertain information effectively and obtain objective importance of RFs.

Theoretically, the paper develops a customer-oriented model based on the FKM, QFD, IVIF sets and entropy theory to prioritize RFs of SSC under uncertain environment. The model enables to integrate sustainable CRs into RFs managements and is efficient to deal with the subjectivity and conduct objective analysis to prioritize RFs. In practice, the systematic and correct RFs' priorities analysis provides reliable decision support for the managers to take measures to avoid or mitigate the critical RFs.

Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm.

The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism.

The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method.

The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.